From 1833258f344419cdf6b37442a698565a8c56ad11 Mon Sep 17 00:00:00 2001
From: weixin_46229132 <weixin_46229132@noreply.gitcode.com>
Date: Sun, 4 May 2025 21:32:13 +0800
Subject: [PATCH] format

---
 navigate.py | 44 ++++++++++++++++++++++++--------------------
 1 file changed, 24 insertions(+), 20 deletions(-)

diff --git a/navigate.py b/navigate.py
index 60c6688..cb08f51 100644
--- a/navigate.py
+++ b/navigate.py
@@ -1,15 +1,5 @@
 import heapq
 
-# 停车场状态矩阵
-parking_lot = [
-    [3, 2, 2, 0, 2, 2, 2],
-    [3, 1, 1, 0, 1, 1, 1],
-    [0, 0, 0, 0, 0, 0, 0]
-]
-
-# 起点和终点（行, 列）
-start = (0, 3)
-goal = (1, 1)
 
 # 可行走的位置（即值为0，或目标位置）
 def is_walkable(pos):
@@ -18,10 +8,12 @@ def is_walkable(pos):
         return parking_lot[r][c] == 0 or pos == goal
     return False
 
+
 # 曼哈顿距离作为启发函数
 def heuristic(a, b):
     return abs(a[0] - b[0]) + abs(a[1] - b[1])
 
+
 # A*搜索
 def a_star(start, goal):
     open_set = []
@@ -41,7 +33,7 @@ def a_star(start, goal):
             return path[::-1]  # 反转
 
         # 邻接节点（上下左右）
-        for dr, dc in [(-1,0), (1,0), (0,-1), (0,1)]:
+        for dr, dc in [(-1, 0), (1, 0), (0, -1), (0, 1)]:
             neighbor = (current[0] + dr, current[1] + dc)
 
             if not is_walkable(neighbor):
@@ -56,13 +48,25 @@ def a_star(start, goal):
 
     return None  # 找不到路径
 
-# 执行 A* 路径搜索
-path = a_star(start, goal)
 
-# 输出结果
-if path:
-    print("找到路径:")
-    for step in path:
-        print(step)
-else:
-    print("找不到路径。")
+if __name__ == "__main__":
+    # 停车场状态矩阵
+    parking_lot = [
+        [3, 2, 2, 0, 2, 2, 2],
+        [3, 1, 1, 0, 1, 1, 1],
+        [0, 0, 0, 0, 0, 0, 0]
+    ]
+
+    # 起点和终点（行, 列）
+    start = (0, 3)
+    goal = (1, 1)
+    # 执行 A* 路径搜索
+    path = a_star(start, goal)
+
+    # 输出结果
+    if path:
+        print("找到路径:")
+        for step in path:
+            print(step)
+    else:
+        print("找不到路径。")